// Copyright (c) 2015-2016, ETH Zurich, Wyss Zurich, Zurich Eye
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the ETH Zurich, Wyss Zurich, Zurich Eye nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL ETH Zurich, Wyss Zurich, Zurich Eye BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#pragma once

#include <string>

#include <ze/common/logging.hpp>
#include <ze/common/macros.hpp>
#include <ze/common/types.hpp>

namespace ze {

enum class ImuNoiseType
{
  None,
  WhiteBrownian
};

//------------------------------------------------------------------------------
// Noise model base class
class ImuNoiseModel
{
public:
  ZE_POINTER_TYPEDEFS(ImuNoiseModel);

  explicit ImuNoiseModel(ImuNoiseType type);

  inline ImuNoiseType type() const { return type_; }
  std::string typeAsString() const;

 private:
  ImuNoiseType type_;
};

//------------------------------------------------------------------------------
// No noise model
class ImuNoiseNone: public ImuNoiseModel
{
public:
  ZE_POINTER_TYPEDEFS(ImuNoiseNone);
  static constexpr ImuNoiseType Type = ImuNoiseType::None;

  ImuNoiseNone();
};

//------------------------------------------------------------------------------
// White brownian noise model
class ImuNoiseWhiteBrownian: public ImuNoiseModel
{
public:
  ZE_POINTER_TYPEDEFS(ImuNoiseWhiteBrownian);
  static constexpr ImuNoiseType Type = ImuNoiseType::WhiteBrownian;

  ImuNoiseWhiteBrownian(real_t noise_density,
                        real_t bandwidth,
                        real_t bias_noise_density);

  // getters
  inline real_t noiseDensity() const { return noise_density_; }
  inline real_t bandwidth() const { return bandwidth_; }
  inline real_t biasNoiseDensity() const { return bias_noise_density_; }

private:
  real_t noise_density_;
  real_t bandwidth_;
  real_t bias_noise_density_;
};

} // namespace ze
